Date of Original Version



Conference Proceeding

Abstract or Description

Inspired by probabilistic path planning, we contribute a planning approach that probabilistically balances heuristics and past plans as guidance to planning search. Our ERRT-PLAN algorithm generates multiple search branches probabilistically choosing to extend them towards the current goal or towards actions or goals of a past given plan. We have defined domains to show where current techniques could be trapped. Also, we show experimental results with a variety of domains, where we show the strengths of ERRT-PLAN.



Published In

Proceedings of the Workshop on Heuristics and Search for DomainIndependent Planning at ICAPS, 2012, 17-25.